Week 2- 2R Robotic Arm Challenge

% Matlab to simulate the forward kinematics of a 2R Robotic Arm

clear 
close all
clc

% Assumed inputs

% origin points
x0 = 0;
y0 = 0;

% Length 1st and second arm
l1 = 1;
l2 = 1.3;

% angle of inclination 
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

% Using for loop to plot and animate the 2R robotic arm
ct = 1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
  
        for j = 1:length(theta2)
        THETA2 = theta2(j);

         x1 = l1*cosd(THETA1);
         y1 = l1*sind(THETA1);

         x2 = x1 + l2*cosd(THETA2);
         y2 = y1 + l2*sind(THETA2);

         plot([x0 x1], [y0 y1], [x1 x2], [y1 y2], 'linewidth',2) 
      
         axis ([-0.1 1.5 0 1.5])
         pause(0.02);
         M(ct) = getframe(gcf);
         ct = ct+1;
         
         


         end
 
end

% for creating a movie to upload in youtube
movie(M)
videofile = VideoWriter('forward_kinematics_2R_robotic_arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)